diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 4602046c5..edfa38828 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -85,8 +85,6 @@ SET(App_ExampleBrowser_SRCS
   ../Importers/ImportURDFDemo/URDF2Bullet.cpp
   ../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
   ../Importers/ImportURDFDemo/MyMultiBodyCreator.h
-  ../Importers/ImportURDFDemo/ROSURDFImporter.cpp
-  ../Importers/ImportURDFDemo/ROSURDFImporter.h
   ../Importers/ImportURDFDemo/UrdfParser.cpp
   ../Importers/ImportURDFDemo/urdfStringSplit.cpp
  ../Importers/ImportURDFDemo/urdfStringSplit.h
@@ -141,6 +139,8 @@ SET(App_ExampleBrowser_SRCS
     ../ThirdPartyLibs/urdf/boost_replacement/string_split.h
 	../Utils/b3Clock.cpp
 	../Utils/b3Clock.h
+	../Utils/b3ResourcePath.cpp
+	../Utils/b3ResourcePath.h
 	${ExampleBrowser_SRCS}
 	${ExampleBrowser_HDRS}
 	${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 6e5762524..038e3b3eb 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -77,6 +77,7 @@
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
 		"../ThirdPartyLibs/tinyxml/*",
 		"../Utils/b3Clock.*",
+		"../Utils/b3ResourcePath.*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",
 		"../GyroscopicDemo/GyroscopicSetup.h",
 		"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
diff --git a/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp b/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
index b9a967737..4b0292c74 100644
--- a/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
+++ b/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
@@ -24,6 +24,7 @@ subject to the following restrictions:
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "LoadMeshFromCollada.h"
 #include "Bullet3Common/b3FileUtils.h"
+#include "../../Utils/b3ResourcePath.h"
 
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 
@@ -86,9 +87,9 @@ void ImportColladaSetup::initPhysics()
 	
     char relativeFileName[1024];
 
-	b3FileUtils f;
-	if (!f.findFile(fileName,relativeFileName,1024))
-		return;
+   if (!b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))
+                return;
+
 
 	btVector3 shift(0,0,0);
 	btVector3 scaling(1,1,1);
@@ -209,4 +210,4 @@ void ImportColladaSetup::initPhysics()
 class CommonExampleInterface*    ImportColladaCreateFunc(struct CommonExampleOptions& options)
 {
 	return new ImportColladaSetup(options.m_guiHelper);
-}
\ No newline at end of file
+}
diff --git a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
index f5b345ec4..317fe9c13 100644
--- a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+++ b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
@@ -169,7 +169,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 				const char* sem = input->Attribute("semantic");
 				std::string semName(sem);
 //					printf("sem=%s\n",sem);
-				const char* src = input->Attribute("source");
+		//		const char* src = input->Attribute("source");
 //					printf("src=%s\n",src);
 				const char* srcIdRef = input->Attribute("source");
 				std::string source_name;
@@ -192,12 +192,12 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 				std::string normalSourceName;
 				int primitiveCount;
 				primitive->QueryIntAttribute("count", &primitiveCount);
-				bool positionAndNormalInVertex=false;
 				int indexStride=1;
 				int posOffset = 0;
 				int normalOffset = 0;
 				int numIndices = 0;
 				{
+
 					for (TiXmlElement* input = primitive->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input")) 
 					{
 						const char* sem = input->Attribute("semantic");
@@ -206,7 +206,8 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 						if ((offset+1)>indexStride)
 							indexStride=offset+1;
 						//printf("sem=%s\n",sem);
-						const char* src = input->Attribute("source");
+					//	const char* src = input->Attribute("source");
+
 						//printf("src=%s\n",src);
 						const char* srcIdRef = input->Attribute("source");
 						std::string source_name;
@@ -226,7 +227,6 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 							{
 								normalSourceName = vs->m_normalArrayId;
 								normalOffset  = offset;
-								positionAndNormalInVertex = true;
 							}
 						}
 						if (semName=="NORMAL")
@@ -234,7 +234,6 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 							btAssert(normalSourceName.length()==0);
 							normalSourceName = source_name;
 							normalOffset  = offset;
-							positionAndNormalInVertex = false;
 						}
 					}
 					numIndices = primitiveCount * 3; 
@@ -418,7 +417,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
 		int* shapeIndexPtr = name2Shape[geomUrl];
 		if (shapeIndexPtr)
 		{
-			int index = *shapeIndexPtr;
+		//	int index = *shapeIndexPtr;
 			printf("found geom with index %d\n", *shapeIndexPtr);
 			ColladaGraphicsInstance& instance = visualShapeInstances.expand();
 			instance.m_shapeIndex = *shapeIndexPtr;
@@ -555,7 +554,7 @@ void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr,
 void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling,int clientUpAxis)
 {
 
-	GLInstanceGraphicsShape* instance = 0;
+//	GLInstanceGraphicsShape* instance = 0;
 	
 	//usually COLLADA files don't have that many visual geometries/shapes
 	visualShapes.reserve(32);
@@ -745,4 +744,4 @@ void LoadMeshFromColladaAssimp(const char* relativeFileName, btAlignedObjectArra
 	
 }
 
-#endif //COMPARE_WITH_ASSIMP
\ No newline at end of file
+#endif //COMPARE_WITH_ASSIMP
diff --git a/examples/Importers/ImportColladaDemo/btMatrix4x4.h b/examples/Importers/ImportColladaDemo/btMatrix4x4.h
index 5d6ec3a30..0a71e86a8 100644
--- a/examples/Importers/ImportColladaDemo/btMatrix4x4.h
+++ b/examples/Importers/ImportColladaDemo/btMatrix4x4.h
@@ -117,7 +117,7 @@ ATTRIBUTE_ALIGNED16(class) btMatrix4x4
 		return m_el[0].w() * v.x() + m_el[1].w() * v.y() + m_el[2].w() * v.z() + m_el[3].w() * v.w();
 	}
 
-	SIMD_FORCE_INLINE btMatrix4x4 
+	SIMD_FORCE_INLINE btMatrix4x4 &
 	operator*=(const btMatrix4x4& m)
 	{
 		setValue(
@@ -125,6 +125,7 @@ ATTRIBUTE_ALIGNED16(class) btMatrix4x4
 			m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),m.tdotw(m_el[1]),
 			m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]),m.tdotw(m_el[2]),
 			m.tdotx(m_el[3]), m.tdoty(m_el[3]), m.tdotz(m_el[3]),m.tdotw(m_el[3]));
+		return *this;
 	}
 
 	
diff --git a/examples/Importers/ImportObjDemo/ImportObjExample.cpp b/examples/Importers/ImportObjDemo/ImportObjExample.cpp
index bb13fda82..7b9444c5d 100644
--- a/examples/Importers/ImportObjDemo/ImportObjExample.cpp
+++ b/examples/Importers/ImportObjDemo/ImportObjExample.cpp
@@ -6,6 +6,8 @@
 #include "btBulletDynamicsCommon.h"
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "Wavefront2GLInstanceGraphicsShape.h"
+#include "../../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
 
 
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
@@ -54,30 +56,17 @@ void ImportObjSetup::initPhysics()
 	this->createEmptyDynamicsWorld();
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
-	const char* fileName = "samurai_monastry.obj";
-    char relativeFileName[1024];
-	const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
-	int prefixIndex=-1;
-	{
-		
-		int numPrefixes = sizeof(prefix)/sizeof(char*);
-		
-		for (int i=0;i<numPrefixes;i++)
-		{
-			FILE* f = 0;
-			sprintf(relativeFileName,"%s%s",prefix[i],fileName);
-			f = fopen(relativeFileName,"r");
-			if (f)
-			{
-				fclose(f);
-				prefixIndex = i;
-				break;
-			}
-		}
-	}
-	
-	if (prefixIndex<0)
-		return;
+
+
+   const char* fileName = "samurai_monastry.obj";
+        char relativeFileName[1024];
+        if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+        {
+                char pathPrefix[1024];
+
+                b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+
+
 	
 	btVector3 shift(0,0,0);
 	btVector3 scaling(10,10,10);
@@ -86,7 +75,7 @@ void ImportObjSetup::initPhysics()
 	{
 		
 		std::vector<tinyobj::shape_t> shapes;
-		std::string err = tinyobj::LoadObj(shapes, relativeFileName, prefix[prefixIndex]);
+		std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
 		
@@ -106,7 +95,12 @@ void ImportObjSetup::initPhysics()
 		m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 
 	
-	}
+	}}
+        else
+        {
+                b3Warning("Cannot find %s\n", fileName);
+        }
+
 }
 
  CommonExampleInterface*    ImportObjCreateFunc(struct CommonExampleOptions& options)
diff --git a/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp b/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
index 92996d9fe..b7f25c3dc 100644
--- a/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
+++ b/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
@@ -6,6 +6,7 @@
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "LoadMeshFromSTL.h"
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../../Utils/b3ResourcePath.h"
 
 
 
@@ -52,28 +53,12 @@ void ImportSTLSetup::initPhysics()
 
 	const char* fileName = "l_finger_tip.stl";
     char relativeFileName[1024];
-	const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
-	int prefixIndex=-1;
-	{
-		
-		int numPrefixes = sizeof(prefix)/sizeof(char*);
-		
-		for (int i=0;i<numPrefixes;i++)
-		{
-			FILE* f = 0;
-			sprintf(relativeFileName,"%s%s",prefix[i],fileName);
-			f = fopen(relativeFileName,"r");
-			if (f)
-			{
-				fclose(f);
-				prefixIndex = i;
-				break;
-			}
-		}
-	}
-	
-	if (prefixIndex<0)
-		return;
+  if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+        {
+                b3Warning("Cannot find file %s\n", fileName);
+                return;
+        }
+
 	
 	btVector3 shift(0,0,0);
 	btVector3 scaling(10,10,10);
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index ea2240150..0e8b0c451 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -24,6 +24,7 @@ subject to the following restrictions:
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include <string>
+#include "../../Utils/b3ResourcePath.h"
 
 
 
@@ -101,7 +102,8 @@ bool BulletURDFImporter::loadURDF(const char* fileName)
 	
 	b3FileUtils fu;
 	
-	bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
+	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
+  	bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
 	
 	std::string xml_string;
 	m_data->m_pathPrefix[0] = 0;
@@ -390,7 +392,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 												upAxis);
 
 							glmesh = new GLInstanceGraphicsShape;
-							int index = 0;
+					//		int index = 0;
 							glmesh->m_indices = new b3AlignedObjectArray<int>();
 							glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
 
@@ -501,7 +503,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 
 			
 			glmesh = new GLInstanceGraphicsShape;
-			int index = 0;
+		//	int index = 0;
 			glmesh->m_indices = new b3AlignedObjectArray<int>();
 			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
 
@@ -702,7 +704,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 													upAxis );
 								
 								glmesh = new GLInstanceGraphicsShape;
-								int index = 0;
+						//		int index = 0;
 								glmesh->m_indices = new b3AlignedObjectArray<int>();
 								glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
 
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index a4f633e68..ac4eadd84 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -9,7 +9,9 @@
 #include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
+#ifdef ENABLE_ROS_URDF
 #include "ROSURDFImporter.h"
+#endif
 #include "BulletUrdfImporter.h"
 
 
@@ -197,18 +199,20 @@ void ImportUrdfSetup::initPhysics()
     //now print the tree using the new interface
     URDFImporterInterface* bla=0;
 	
-    static bool newURDF = false;
-	newURDF = !newURDF;
+    static bool newURDF = true;
 	if (newURDF)
 	{
 		b3Printf("using new URDF\n");
 		bla = new  BulletURDFImporter(m_guiHelper);
-	} else
+	}
+#ifdef USE_ROS_URDF
+ else
 	{
 		b3Printf("using ROS URDF\n");
 		bla = new ROSURDFImporter(m_guiHelper);
 	}
-
+  	newURDF = !newURDF;
+#endif//USE_ROS_URDF
 	URDFImporterInterface& u2b = *bla;
 	bool loadOk =  u2b.loadURDF(m_fileName);
 
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index aa249d538..75b0fa212 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -12,8 +12,8 @@
 #include "URDFJointTypes.h"
 
 MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
-	:m_guiHelper(guiHelper),
-	m_bulletMultiBody(0)
+	:m_bulletMultiBody(0),
+m_guiHelper(guiHelper)
 {
 }
 
diff --git a/examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp b/examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp
index 5caa0e2f5..3c4a6daa4 100644
--- a/examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp
@@ -152,7 +152,7 @@ bool ROSURDFImporter::loadURDF(const char* fileName)
     m_data->m_robot->getLinks(m_data->m_links);
         
     //initialize the 'index' of each link
-    for (int i=0;i<m_data->m_links.size();i++)
+    for (int i=0;i<(int)m_data->m_links.size();i++)
     {
         m_data->m_links[i]->m_link_index = i;
     }
@@ -413,7 +413,7 @@ void ROSconvertURDFToVisualShape(const Visual* visual, const char* urdfPathPrefi
 												upAxis);
 
 							glmesh = new GLInstanceGraphicsShape;
-							int index = 0;
+							//int index = 0;
 							glmesh->m_indices = new b3AlignedObjectArray<int>();
 							glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
 
@@ -524,7 +524,7 @@ void ROSconvertURDFToVisualShape(const Visual* visual, const char* urdfPathPrefi
 
 			
 			glmesh = new GLInstanceGraphicsShape;
-			int index = 0;
+		//	int index = 0;
 			glmesh->m_indices = new b3AlignedObjectArray<int>();
 			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
 
@@ -726,7 +726,7 @@ btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const cha
 													upAxis );
 								
 								glmesh = new GLInstanceGraphicsShape;
-								int index = 0;
+						//		int index = 0;
 								glmesh->m_indices = new b3AlignedObjectArray<int>();
 								glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
 
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 0fcc3d1a9..2c1a2c0d0 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -73,9 +73,10 @@ void printTree(const URDFImporterInterface& u2b, int linkIndex, int indentationL
 struct URDF2BulletCachedData
 {
     URDF2BulletCachedData()
-    :m_totalNumJoints1(0),
-    m_currentMultiBodyLinkIndex(-1),
-    m_bulletMultiBody(0)
+    :
+	m_currentMultiBodyLinkIndex(-1),
+	m_bulletMultiBody(0),
+	m_totalNumJoints1(0)
     {
 
     }
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index f3feb0722..03563b719 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -18,7 +18,7 @@ static bool parseVector4(btVector4& vec4, const std::string& vector_str)
 	btArray<std::string> pieces;
 	btArray<float> rgba;
 	urdfStringSplit(pieces, vector_str, urdfIsAnyOf(" "));
-	for (unsigned int i = 0; i < pieces.size(); ++i)
+	for (int i = 0; i < pieces.size(); ++i)
 	{
 		if (!pieces[i].empty())
 		{
@@ -39,7 +39,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLo
 	btArray<std::string> pieces;
 	btArray<float> rgba;
 	urdfStringSplit(pieces, vector_str, urdfIsAnyOf(" "));
-	for (unsigned int i = 0; i < pieces.size(); ++i)
+	for (int i = 0; i < pieces.size(); ++i)
 	{
 		if (!pieces[i].empty())
 		{
@@ -844,4 +844,4 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger)
 
 	return initTreeAndRoot(logger);
 	
-}
\ No newline at end of file
+}
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 6b05826da..83b660afb 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -4,7 +4,7 @@
 #include "PosixSharedMemory.h"
 #include "Win32SharedMemory.h"
 
-#include "../Importers/ImportURDFDemo/ROSURDFImporter.h"
+#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 
@@ -132,7 +132,7 @@ bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const b
                              bool useMultiBody, bool useFixedBase)
 {
  
-    ROSURDFImporter u2b(m_guiHelper);
+    BulletURDFImporter u2b(m_guiHelper);
     bool loadOk =  u2b.loadURDF(fileName);
     if (loadOk)
     {
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 91ae0bd9f..2d9f28cc1 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -22,8 +22,9 @@ files {
 	"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
 	"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 	"../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
-	"../Importers/ImportURDFDemo/ROSURDFImporter.cpp",
-	"../Importers/ImportURDFDemo/ROSURDFImporter.h",
+	"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+	"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
+	"../Importers/ImportURDFDemo/UrdfParser.cpp",
 	"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 	"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
  	"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
@@ -31,6 +32,7 @@ files {
 	"../Importers/ImportURDFDemo/UrdfParser.h",
 	"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
 	"../Importers/ImportURDFDemo/URDF2Bullet.h",
+	"../Utils/b3ResourcePath.cpp",
 	"../Importers/ImportURDFDemo/URDFImporterInterface.h",
 	"../Importers/ImportURDFDemo/URDFJointTypes.h",
 	"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
diff --git a/examples/Utils/b3ResourcePath.cpp b/examples/Utils/b3ResourcePath.cpp
new file mode 100644
index 000000000..75ca52415
--- /dev/null
+++ b/examples/Utils/b3ResourcePath.cpp
@@ -0,0 +1,80 @@
+#include "b3ResourcePath.h"
+#include "Bullet3Common/b3Logging.h"
+#ifdef __APPLE__
+#include <mach-o/dyld.h>	/* _NSGetExecutablePath */
+#else
+#ifdef _WIN32
+#else
+//not Mac, not Windows, let's cross the fingers it is Linux :-)
+#include <unistd.h>
+#endif
+#endif
+
+
+#include "Bullet3Common/b3FileUtils.h"
+#define B3_MAX_EXE_PATH_LEN 4096
+
+int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
+{
+	int numBytes = 0;
+
+#if __APPLE__
+ uint32_t  bufsize = uint32_t(maxPathLenInBytes);
+
+	if (_NSGetExecutablePath(path, &bufsize)!=0)
+	{
+		b3Warning("Cannot find executable path\n");
+		return false;
+	} else
+	{
+		numBytes = strlen(path);
+	}
+#else
+#ifdef _WIN32
+#error not yet
+#else
+	numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1);
+	if (numBytes > 0) 
+	{
+		path[numBytes] = 0;
+	} else
+	{
+		b3Warning("Cannot find executable path\n");
+	}
+#endif //_WIN32
+#endif //__APPLE__
+
+	return numBytes;
+}
+
+int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePath, int resourcePathMaxNumBytes)
+{
+	//first find in a resource/<exeName> location, then in various folders within 'data' using b3FileUtils
+	char exePath[B3_MAX_EXE_PATH_LEN];
+
+	int l = b3ResourcePath::getExePath(exePath, B3_MAX_EXE_PATH_LEN);
+	if (l)
+	{
+ 		char pathToExe[B3_MAX_EXE_PATH_LEN];
+
+        	int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN);
+        	if (exeNamePos)
+        	{
+			sprintf(resourcePath,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
+			//printf("try resource at %s\n", resourcePath);	
+			if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
+			{
+				return strlen(resourcePath);
+			}
+        	}
+	}
+
+	bool res = b3FileUtils::findFile(resourceName, resourcePath, resourcePathMaxNumBytes);
+	if (res)
+        {
+                return strlen(resourcePath);
+        }
+
+	return 0;
+}
+
diff --git a/examples/Utils/b3ResourcePath.h b/examples/Utils/b3ResourcePath.h
new file mode 100644
index 000000000..32b168405
--- /dev/null
+++ b/examples/Utils/b3ResourcePath.h
@@ -0,0 +1,13 @@
+#ifndef _B3_RESOURCE_PATH_H
+#define _B3_RESOURCE_PATH_H 
+
+#include <string>
+
+class b3ResourcePath
+{
+public:
+	static int getExePath(char* path, int maxPathLenInBytes);
+	static int findResourcePath(const char* sourceName, char* resourcePath, int maxResourcePathLenInBytes);
+};
+#endif
+
diff --git a/src/Bullet3Common/b3FileUtils.h b/src/Bullet3Common/b3FileUtils.h
index 9a26f8c6b..1a331029e 100644
--- a/src/Bullet3Common/b3FileUtils.h
+++ b/src/Bullet3Common/b3FileUtils.h
@@ -15,7 +15,7 @@ struct b3FileUtils
 	{
 	}
 
-	bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
+	static bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
 	{
 		FILE* f=0;
 		f = fopen(orgFileName,"rb");
@@ -33,7 +33,6 @@ struct b3FileUtils
 	
 			f=0;
 			bool fileFound = false;
-			int result = 0;
 
 			for (int i=0;!f && i<numPrefixes;i++)
 			{
@@ -64,7 +63,7 @@ struct b3FileUtils
 		const char * oriptr;
 		const char * patloc;
 		// find how many times the pattern occurs in the original string
-		for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+		for (oriptr = name; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
 		{
 			patcnt++;
 		}
@@ -73,7 +72,7 @@ struct b3FileUtils
 
 	
 
-	static void extractPath(const char* fileName, char* path, int maxPathLength)
+	static int extractPath(const char* fileName, char* path, int maxPathLength)
 	{
 		const char* stripped = strip2(fileName, "/");
 		stripped = strip2(stripped, "\\");
@@ -91,12 +90,14 @@ struct b3FileUtils
 			path[len]=0;
 		} else
 		{
+			len = 0;
 			b3Assert(maxPathLength>0);
 			if (maxPathLength>0)
 			{
-				path[0] = 0;
+				path[len] = 0;
 			}
 		}
+		return len;
 	}
 
 	static char toLowerChar(const char t)